29c2e58c75
The thread-local-storage feature in FreeRTOS attaches an application-usable array of pointers to a thread control block. These pointers usually point to a structure the thread allocates. When a thread gets (voluntarily or involuntarily) destroyed, this memory can leak. This merge adds a matching second array of user-settable pointers to destructor routines. As soon as the task gets cleaned up (which happens in the idle thread), the destructors get called and the memory can be freed. See merge request !19
33 lines
1.8 KiB
Plaintext
33 lines
1.8 KiB
Plaintext
This version of FreeRTOS has been modified by Espressif to be SMP-aware. The
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API is similar to the original FreeRTOS API, with the following changes:
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- The xTaskCreate() function now creates tasks that will run on the first
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core only, for backwards compatibility. To schedule tasks on another core,
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use xTaskCreatePinnedToCore(), which will accept a core ID as the last
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argument. If this is the constant tskNO_AFFINITY, the task will be dynamically
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scheduled on whichever core has time.
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- vTaskSuspendAll/vTaskResumeAll in non-SMP FreeRTOS will suspend the scheduler
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so no other tasks than the current one will run. In this SMP version, it will
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only suspend the scheduler ON THE CURRENT CORE. That is, tasks scheduled to
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run on the other core(s) or without a specific CPU affinity, will still be
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able to run.
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- Enabling and disabling interrupts will only affect the current core.
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Disabling the interrupts will not disallow other tasks to run as
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it would on a single-core system: the other core still will keep on
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executing all it's own. Use a mux, queue or semaphore to protect your
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structures instead.
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- While each core has individual interrupts, the handlers are shared. This
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means that when you set a handler for an interrupt, it will get triggered if
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the interrupt is triggered on both CPU0 as well as on CPU1. This is something
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we may change in future FreeRTOS-esp32 releases.
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- This FreeRTOS version has the task local storage backported from the 8.2.x
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versions. It, however, has an addition: you can also set a callback when you
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set the pointer. This callback will be called by the idle task, with the
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pointer as an argument, when the thread is destroyed. This depends on the idle
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task getting CPU time; when a thread is hogging the CPU without yielding,
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the idle thread won't be called and the delete callback won't be called either.
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